botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Reduce DataLink latency

Browse Source
This commit is contained in:
Johnathon Slightham
2026-01-27 22:16:24 -05:00
committed by Johnathon Slightham
parent b9c6a99260
commit 2e9004ee34
25 changed files with 801 additions and 757 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
components/rpc/include/CommunicationRouter.h
View File

@@ -21,13 +21,15 @@
#include "wireless/TCPServer.h"
#include "wireless/WifiManager.h"
#define MAX_NETWORK_QUEUE_SIZE 10
class CommunicationRouter {
public:
explicit CommunicationRouter(
const std::function<void(char *, int)> &rx_callback)
: m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
m_rx_callback(rx_callback),
const std::function<void(std::unique_ptr<std::vector<uint8_t>>&&)> &rx_callback)
: m_tcp_rx_queue(std::make_shared<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>>(MAX_NETWORK_QUEUE_SIZE)),
m_rx_callback(std::move(rx_callback)),
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(
m_config_manager.get_communication_method())),
@@ -56,15 +58,15 @@ public:
[[noreturn]] static void link_layer_thread(void *args);
int send_msg(char *buffer, size_t length) const;
void update_leader();
void route(uint8_t *buffer, size_t length) const;
void route(std::unique_ptr<std::vector<uint8_t>>&& buffer) const;
void route(uint8_t* buffer, size_t size) const;
[[nodiscard]] std::pair<std::vector<uint8_t>, std::vector<Orientation>>
get_physically_connected_modules() const;
[[nodiscard]] uint8_t get_leader() const;
// todo: does this really need to be here (so i can access from thread)?
std::shared_ptr<PtrQueue<std::vector<uint8_t>>>
m_tcp_rx_queue; // todo: this should probably be thread safe
std::function<void(char *, int)> m_rx_callback;
std::shared_ptr<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>> m_tcp_rx_queue;
std::function<void(std::unique_ptr<std::vector<std::uint8_t>>)> m_rx_callback;
private:
TaskHandle_t m_router_thread = nullptr;